CN212794990U

CN212794990U - Manipulator capable of realizing high-speed taking and placing of special-shaped piece

Info

Publication number: CN212794990U
Application number: CN202021379589.8U
Authority: CN
Inventors: 汪少杰
Original assignee: Wuhan Rihan Precision Machinery Co ltd
Current assignee: Wuhan Rihan Precision Machinery Co ltd
Priority date: 2020-07-14
Filing date: 2020-07-14
Publication date: 2021-03-26
Anticipated expiration: 2030-07-14

Abstract

The utility model provides a manipulator capable of realizing high-speed taking and placing of a special-shaped piece, which belongs to the technical field of automatic manipulator high-speed high-precision part taking and placing conveying equipment in the cold punching industry, and the manipulator capable of realizing high-speed taking and placing of the special-shaped piece comprises a three-dimensional manipulator; the outer wall of the bottom end of the three-dimensional manipulator is connected with a moving platform through a bolt; the outer wall of one side of the motion platform is connected with a platform motion control box in a sliding way; a signal and control transition cable is arranged on the inner wall of one side of the platform motion control box; the inner walls of the two sides of the motion platform are connected with a hand-held pneumatic joint mechanism through bolts; the outer wall of one side of the hand-holding pneumatic joint mechanism is provided with a uniformly distributed pneumatic hand-holding pneumatic joint mechanism, and the outer wall of the other side of the hand-holding pneumatic joint mechanism is connected with a manipulator transition signal control box through a signal and control transition cable. The utility model discloses a set up stopper, gag lever post, spheroid and realized the multidimension degree transport of comparatively complicated special-shaped part and get the purpose of putting work on pneumatic hand grab.

Description

Manipulator capable of realizing high-speed taking and placing of special-shaped piece

Technical Field

The utility model belongs to the technical field of the automatic high-speed high accuracy part of manipulator of cold punching trade transmission mould gets and puts transfer apparatus, concretely relates to can realize that dysmorphism gets the manipulator of putting at a high speed.

Background

Article are carried by the manual work after the cold punching trade punching press, work as the staff is not concentrated, produce the accident easily when long-time work is tired, harm staff's healthy, have also reduced work efficiency simultaneously, influence the benefit, consequently, need urgently to realize that dysmorphism is high-speed to get the manipulator of putting.

Through the retrieval discovery, disclose a manipulator moves and carries sliding mechanism in chinese patent that the grant publication number is CN202825821U for the manipulator, including motion seat, guide rail, rack, gear, pulley, the guide rail is located one side of motion seat face to the manipulator fuselage, the motion seat with at least one side is installed in the parallel face both sides of guide rail the pulley, the pulley with the guide rail cooperation is connected, motion seat upper portion is provided with U type groove, the rack is installed in U type inslot, and through the screw with the motion seat is connected, the gear install in motion seat back to manipulator fuselage one side, and with rack toothing, the utility model discloses a manipulator moves and carries sliding mechanism inertia and vibration little in the motion process.

However, according to the technical scheme, the moving seat, the guide rail, the rack, the gear, the pulley, the U-shaped groove and the manipulator are arranged, so that the mechanical gripper is simple in structure, only can grab plane parts, single-dimensional taking and placing are achieved, and complex multi-dimensional carrying and taking and placing work of special-shaped parts cannot be achieved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a can realize that dysmorphism piece gets manipulator of putting at a high speed, aim at solving the mechanical gripper simple structure among the prior art, can only snatch the plane part, realize the unidimensional degree and get and put, can't realize the multidimensional degree transport of comparatively complicated special-shaped part and get and put work.

In order to achieve the above object, the utility model provides a following technical scheme: the mechanical arm capable of realizing high-speed taking and placing of the special-shaped part comprises a three-dimensional mechanical arm; the outer wall of the bottom end of the three-dimensional manipulator is connected with a moving platform through a bolt; the outer wall of one side of the motion platform is connected with a platform motion control box in a sliding way; a signal and control transition cable is arranged on the inner wall of one side of the platform motion control box; the inner walls of the two sides of the motion platform are connected with a hand-held pneumatic joint mechanism through bolts; pneumatic grips which are uniformly distributed are arranged on the outer wall of one side of the grip pneumatic joint mechanism; the number of the pneumatic hand grips is more than two; the outer wall of the other side of the hand-held pneumatic joint mechanism is connected with a manipulator transition signal control box through a signal and control transition cable; a control unit is arranged in the three-dimensional manipulator; the manipulator transition signal control box and the platform motion control box are both electrically connected with the internal control unit.

In order to realize the functions of multi-dimensional carrying and taking and placing work of complex special-shaped parts, as a preferred mode of the utility model, the hand-held pneumatic joint structure comprises a motor box, a cylinder box, a rotating motor and a moving cylinder; the inner wall of one side of the motor box is connected to the outer wall of one side of the rotating motor through a bolt; the outer wall of one side of an output shaft of the rotating motor is connected to the outer wall of one side of the air cylinder box through a bolt; the inner wall of one side of the cylinder box is connected to the outer wall of one side of the movable cylinder through a bolt; the movable cylinder and the rotating motor are both electrically connected with the internal control unit.

In order to ensure that the pneumatic gripper can better grip an object, as a preferred mode of the utility model, the outer wall of one side of the output shaft of the moving cylinder is connected with a box cover through a bolt; the outer wall of the periphery of the box cover is fixed with evenly distributed limiting blocks through screws; the number of the limiting blocks is more than two.

In order to conveniently limit objects with uneven and irregular surfaces, the clamping of the objects is convenient and quick, and the working efficiency is accelerated, as a preferred mode of the utility model, the pneumatic hand grab comprises a limiting rod and a ball body; the inner wall of one side of the limiting rod is connected with the outer wall of one end of the sphere through a hinge.

In order to prevent the object from easily falling off from the pneumatic hand grab, the utility model relates to a preferred, the outer wall of the other end of the sphere is fixed with a sucker through a screw.

In order to enable the motion platform not to move left and right and reduce the energy consumption of objects to be moved, as a preferred mode of the utility model, the inner walls of the periphery of the box cover are connected with telescopic rods in a sliding manner; the outer wall of the top end of the telescopic rod is fixed with a top plate through a screw.

In order to realize the function of grabbing objects by a pneumatic gripper, as a preferred mode of the utility model, the inner wall of one side of the limiting rod is connected with a connecting rod through a hinge; the outer wall of one side of the connecting rod is connected with the inner wall of the periphery of the top plate through a hinge.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a set up stopper, gag lever post, spheroid, connecting rod, telescopic link, roof on pneumatic hand is grabbed, realized the multidimension degree transport of comparatively complicated special-shaped part and got the purpose of putting work, the removal through the telescopic link makes the gag lever post take place relative motion at the connecting rod that links to each other with the roof for the gag lever post is accomplished to press from both sides and is got or release the function, and the stopper is injectd the position of gag lever post simultaneously, guarantees going on smoothly of snatching the process.

2. The utility model discloses a spheroid that sets up on three gag lever post and the gag lever post sets up the sucking disc, realizes pneumatic clamp hand claw, and the product can not drop the purpose of deformation in high-speed motion, and three gag lever post has guaranteed the stability of fixed article, and the sucking disc can adsorb the article on the one hand and prevent to drop, and on the other hand, the sucking disc makes pneumatic hand grab and unevenness, anomalous article increase area of contact, reduces pneumatic hand grab to the pressure of article for the article can not warp.

3. The utility model discloses a set up the rotating electrical machines box and remove the cylinder in grabbing pneumatic joint structure in hand, for generally holding the structure can only follow manipulator motion platform and carry out simple motion, the complicated work of high degree of difficulty such as upset when this mechanism can realize the follow-up is flexible makes things convenient for the staff operation for work efficiency, the lid of cylinder box top has protected on the one hand and has removed the cylinder and rotate the motor, on the other hand provides inclosed working space, makes pneumatic hand grab can operate smoothly.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.

In the drawings:

fig. 1 is a schematic view of the subjective structure of the present invention;

FIG. 2 is a schematic view of the pneumatic hand-grasping form of the present invention;

FIG. 3 is a schematic view of the internal configuration of the pneumatic joint structure of the hand grab of the present invention;

fig. 4 is a schematic circuit flow diagram of the present invention;

in the figure: 1-a three-dimensional manipulator; 2-a motion platform; 3-a platform motion control box; 4-signal and control transition cables; 5-manipulator transition signal control box; 6-grasping the pneumatic joint structure by hand; 7-pneumatic hand grasping; 8-a motor box; 9-a cylinder box; 10-a box cover; 11-a limiting block; 12-a limiting rod; 13-sphere; 14-a suction cup; 15-a top plate; 16-a connecting rod; 17-a telescopic rod; 18-a moving cylinder; 19-rotating electrical machine.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides the following technical solutions: the manipulator capable of realizing high-speed taking and placing of the special-shaped part comprises a three-dimensional manipulator 1; the outer wall of the bottom end of the three-dimensional manipulator 1 is connected with a moving platform 2 through a bolt; the outer wall of one side of the motion platform 2 is connected with a platform motion control box 3 in a sliding way; a signal and control transition cable 4 is arranged on the inner wall of one side of the platform motion control box 3; the inner walls of the two sides of the motion platform 2 are connected with a hand-held pneumatic joint mechanism 6 through bolts; the outer wall of one side of the hand-holding pneumatic joint mechanism 6 is provided with pneumatic hand-holding devices 7 which are uniformly distributed; the number of the pneumatic hand grips 7 is more than two; the outer wall of the other side of the hand-held pneumatic joint mechanism 6 is connected with a manipulator transition signal control box 5 through a signal and control transition cable 3; a control unit is arranged in the three-dimensional manipulator 1; the manipulator transition signal control box 5 and the platform motion control box 3 are both electrically connected with the internal control unit.

The utility model discloses an in the concrete embodiment, platform motion control box 3 and mechanical transition signal control box 5 in the cubic unit manipulator 1, read sensor signal data through programmable controller, and set for the parameter according to punch press running angle and multidimensional motion, carry out logical judgement, make motion platform 2, hold pneumatic joint mechanism 6 and pneumatic hand and hold 7 operations, show data through the man-machine display interface in real time, the relevant execute component's of program control action simultaneously utilizes program and touch-sensitive screen man-machine to combine control system, realizes full automatic operation control, ensures accurate reliability and stability, the utility model relates to an optimal pneumatic hand of 7's quantity is twenty four.

Specifically, the hand-held pneumatic joint structure 6 comprises a motor box 8, a cylinder box 9, a rotating motor 19 and a moving cylinder 18; the inner wall of one side of the motor box 8 is connected with the outer wall of one side of the rotating motor 19 through a bolt; the outer wall of one side of the output shaft of the rotating motor 19 is connected to the outer wall of one side of the cylinder box 9 through a bolt; the inner wall of one side of the cylinder box 9 is connected with the outer wall of one side of the movable cylinder 18 through a bolt; the moving cylinder 18 and the rotating motor 19 are electrically connected to the internal control unit.

In this embodiment: when the pneumatic hand grab 7 operates, the rotary motor 19 in the motor box 8 operates to rotate the hand grab to a proper position, and then the moving cylinder 18 in the cylinder box 9 moves the hand grab to the proper position, so that the complex multi-dimensional carrying and taking and placing work of the special-shaped parts is realized.

Specifically, the outer wall of one side of the output shaft of the movable cylinder 18 is connected with a box cover 10 through a bolt; the outer walls of the periphery of the box cover 10 are fixed with evenly distributed limiting blocks 11 through screws; the number of the limiting blocks 11 is more than two.

In this embodiment: lid 10 can protect rotating electrical machines 19 and moving cylinder 18, and stopper 11 can be better the pneumatic hand of control 7 presss from both sides and gets the article, the utility model relates to a stopper 11 that is preferred is three.

Specifically, the pneumatic gripper 7 comprises a limiting rod 12 and a ball 13; the inner wall of one side of the limiting rod 12 is connected with the outer wall of one end of the sphere 13 through a hinge.

In this embodiment: the limiting rod 12 is used for limiting objects, and the ball 13 on the limiting rod 12 can limit objects with uneven surfaces and irregular surfaces, so that the objects can be clamped conveniently and quickly, and the working efficiency is improved.

Specifically, a suction cup 14 is fixed on the outer wall of the other end of the sphere 13 through a screw.

In this embodiment: the suction cup 14 can hold the object so that the object does not easily fall off the pneumatic gripper 7.

Specifically, the inner wall of the periphery of the box cover 10 is connected with a telescopic rod 17 in a sliding manner; the top outer wall of the telescopic rod 17 is fixed with a top plate 15 through screws.

In this embodiment: the telescopic rod 17 is controlled by the moving cylinder 18, so that the pneumatic gripper 7 can move, the moving platform does not need to move left and right, and the energy consumption of moving objects is reduced.

Specifically, the inner wall of one side of the limiting rod 12 is connected with a connecting rod 16 through a hinge; the outer wall of one side of the connecting rod 16 is connected with the inner wall of the periphery of the top plate 15 through a hinge.

In this embodiment: the limiting rod 12 and the top plate 15 which are connected through the connecting rod 16 realize the function of grabbing objects of the pneumatic gripper 7 when the telescopic rod 17 moves.

The utility model discloses a theory of operation and use flow: when the automatic manipulator is used, power supplies of various electric equipment are turned on, a platform motion control box 3 and a mechanical transition signal control box 5 in a three-dimensional manipulator 1 read sensor signal data through a programmable controller, parameters are set according to the operation angle and multidimensional motion of a punch, logic judgment is carried out, a motion platform 2, a hand-held pneumatic joint mechanism 6 and a pneumatic hand-held 7 are enabled to operate, data are displayed through a human-computer display interface in real time, actions of related execution elements are controlled through programs, full-automatic operation monitoring is realized by utilizing the programs and a touch screen human-computer combined control system, accurate reliability and stability are ensured, when the pneumatic hand-held 7 operates, a rotary motor 19 in a motor box 8 operates to rotate the hand-held to a proper position, then the hand-held is moved to a proper position through a moving cylinder 18 in a cylinder box 9, and multi-dimensional carrying and picking and placing of complex special-shaped parts are realized, lid 10 can protect rotating electrical machines 19 and moving cylinder 18, stopper 11 can be better the pneumatic hand of control 7 and get the article, gag lever post 12 is used for limiting the article, spheroid 13 on the gag lever post 12 can limit surperficial unevenness, anomalous article, make and get article convenient and fast, accelerate work efficiency, the article can be inhaled to sucking disc 14, make the article can not drop easily from pneumatic hand 7, gag lever post 12 and roof 15 connected through connecting rod 16, when telescopic link 17 removes, realize pneumatic hand 7 snatch the function of article, and simultaneously, the motion platform need not remove about, the energy consumption that needs to remove the article has been reduced.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Can realize that dysmorphism piece gets manipulator of putting at a high speed, its characterized in that: comprises a three-dimensional manipulator (1); the outer wall of the bottom end of the three-dimensional manipulator (1) is connected with a moving platform (2) through a bolt; the outer wall of one side of the motion platform (2) is connected with a platform motion control box (3) in a sliding way; a signal and control transition cable (4) is arranged on the inner wall of one side of the platform motion control box (3); the inner walls of the two sides of the moving platform (2) are connected with a hand-held pneumatic joint mechanism (6) through bolts; pneumatic grips (7) which are uniformly distributed are arranged on the outer wall of one side of the grip pneumatic joint mechanism (6); the number of the pneumatic hand grips (7) is more than two; the outer wall of the other side of the hand-held pneumatic joint mechanism (6) is connected with a manipulator transition signal control box (5) through a signal and control transition cable (4); a control unit is arranged in the three-dimensional manipulator (1); the manipulator transition signal control box (5) and the platform motion control box (3) are both electrically connected with the internal control unit.

2. The manipulator capable of realizing high-speed pick-and-place of the special-shaped piece according to claim 1 is characterized in that: the hand-held pneumatic joint mechanism (6) comprises a motor box (8), a cylinder box (9), a rotating motor (19) and a moving cylinder (18); the inner wall of one side of the motor box (8) is connected to the outer wall of one side of the rotating motor (19) through a bolt; the outer wall of one side of an output shaft of the rotating motor (19) is connected to the outer wall of one side of the cylinder box (9) through a bolt; the inner wall of one side of the cylinder box (9) is connected with the outer wall of one side of the movable cylinder (18) through a bolt; the moving cylinder (18) and the rotating motor (19) are electrically connected with the internal control unit.

3. The manipulator capable of realizing high-speed pick-and-place of the special-shaped piece according to claim 2 is characterized in that: the outer wall of one side of the output shaft of the movable cylinder (18) is connected with a box cover (10) through a bolt; the outer walls of the periphery of the box cover (10) are fixed with evenly distributed limiting blocks (11) through screws; the number of the limiting blocks (11) is more than two.

4. The manipulator capable of realizing high-speed pick-and-place of the special-shaped piece according to claim 1 is characterized in that: the pneumatic hand grab (7) comprises a limiting rod (12) and a ball body (13); the inner wall of one side of the limiting rod (12) is connected with the outer wall of one end of the sphere (13) through a hinge.

5. The manipulator capable of realizing high-speed pick-and-place of the special-shaped piece according to claim 4 is characterized in that: and a sucker (14) is fixed on the outer wall of the other end of the sphere (13) through a screw.

6. The manipulator capable of realizing high-speed pick-and-place of the special-shaped piece according to claim 3 is characterized in that: the inner walls of the periphery of the box cover (10) are connected with telescopic rods (17) in a sliding manner; the top outer wall of the telescopic rod (17) is fixed with a top plate (15) through a screw.

7. The manipulator capable of realizing high-speed pick-and-place of the special-shaped piece according to claim 4 is characterized in that: the inner wall of one side of the limiting rod (12) is connected with a connecting rod (16) through a hinge; the outer wall of one side of the connecting rod (16) is connected with the inner wall of the periphery of the top plate (15) through a hinge.